1 | // MESSAGE PING PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_PING 4 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_ping_t { |
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7 | uint64_t time_usec; /*< Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)*/ |
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8 | uint32_t seq; /*< PING sequence*/ |
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9 | uint8_t target_system; /*< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system*/ |
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10 | uint8_t target_component; /*< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system*/ |
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11 | }) mavlink_ping_t; |
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12 | |
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13 | #define MAVLINK_MSG_ID_PING_LEN 14 |
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14 | #define MAVLINK_MSG_ID_PING_MIN_LEN 14 |
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15 | #define MAVLINK_MSG_ID_4_LEN 14 |
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16 | #define MAVLINK_MSG_ID_4_MIN_LEN 14 |
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17 | |
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18 | #define MAVLINK_MSG_ID_PING_CRC 237 |
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19 | #define MAVLINK_MSG_ID_4_CRC 237 |
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20 | |
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21 | |
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22 | |
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23 | #if MAVLINK_COMMAND_24BIT |
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24 | #define MAVLINK_MESSAGE_INFO_PING { \ |
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25 | 4, \ |
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26 | "PING", \ |
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27 | 4, \ |
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28 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \ |
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29 | { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \ |
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30 | { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \ |
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31 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \ |
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32 | } \ |
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33 | } |
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34 | #else |
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35 | #define MAVLINK_MESSAGE_INFO_PING { \ |
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36 | "PING", \ |
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37 | 4, \ |
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38 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \ |
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39 | { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \ |
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40 | { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \ |
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41 | { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \ |
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42 | } \ |
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43 | } |
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44 | #endif |
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45 | |
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46 | /** |
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47 | * @brief Pack a ping message |
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48 | * @param system_id ID of this system |
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49 | * @param component_id ID of this component (e.g. 200 for IMU) |
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50 | * @param msg The MAVLink message to compress the data into |
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51 | * |
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52 | * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009) |
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53 | * @param seq PING sequence |
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54 | * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system |
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55 | * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system |
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56 | * @return length of the message in bytes (excluding serial stream start sign) |
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57 | */ |
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58 | static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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59 | uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component) |
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60 | { |
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61 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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62 | char buf[MAVLINK_MSG_ID_PING_LEN]; |
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63 | _mav_put_uint64_t(buf, 0, time_usec); |
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64 | _mav_put_uint32_t(buf, 8, seq); |
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65 | _mav_put_uint8_t(buf, 12, target_system); |
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66 | _mav_put_uint8_t(buf, 13, target_component); |
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67 | |
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68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN); |
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69 | #else |
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70 | mavlink_ping_t packet; |
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71 | packet.time_usec = time_usec; |
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72 | packet.seq = seq; |
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73 | packet.target_system = target_system; |
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74 | packet.target_component = target_component; |
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75 | |
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76 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN); |
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77 | #endif |
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78 | |
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79 | msg->msgid = MAVLINK_MSG_ID_PING; |
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80 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); |
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81 | } |
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82 | |
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83 | /** |
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84 | * @brief Pack a ping message on a channel |
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85 | * @param system_id ID of this system |
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86 | * @param component_id ID of this component (e.g. 200 for IMU) |
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87 | * @param chan The MAVLink channel this message will be sent over |
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88 | * @param msg The MAVLink message to compress the data into |
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89 | * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009) |
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90 | * @param seq PING sequence |
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91 | * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system |
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92 | * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system |
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93 | * @return length of the message in bytes (excluding serial stream start sign) |
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94 | */ |
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95 | static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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96 | mavlink_message_t* msg, |
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97 | uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component) |
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98 | { |
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99 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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100 | char buf[MAVLINK_MSG_ID_PING_LEN]; |
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101 | _mav_put_uint64_t(buf, 0, time_usec); |
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102 | _mav_put_uint32_t(buf, 8, seq); |
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103 | _mav_put_uint8_t(buf, 12, target_system); |
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104 | _mav_put_uint8_t(buf, 13, target_component); |
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105 | |
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106 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN); |
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107 | #else |
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108 | mavlink_ping_t packet; |
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109 | packet.time_usec = time_usec; |
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110 | packet.seq = seq; |
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111 | packet.target_system = target_system; |
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112 | packet.target_component = target_component; |
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113 | |
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114 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN); |
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115 | #endif |
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116 | |
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117 | msg->msgid = MAVLINK_MSG_ID_PING; |
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118 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); |
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119 | } |
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120 | |
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121 | /** |
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122 | * @brief Encode a ping struct |
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123 | * |
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124 | * @param system_id ID of this system |
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125 | * @param component_id ID of this component (e.g. 200 for IMU) |
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126 | * @param msg The MAVLink message to compress the data into |
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127 | * @param ping C-struct to read the message contents from |
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128 | */ |
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129 | static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping) |
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130 | { |
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131 | return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component); |
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132 | } |
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133 | |
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134 | /** |
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135 | * @brief Encode a ping struct on a channel |
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136 | * |
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137 | * @param system_id ID of this system |
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138 | * @param component_id ID of this component (e.g. 200 for IMU) |
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139 | * @param chan The MAVLink channel this message will be sent over |
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140 | * @param msg The MAVLink message to compress the data into |
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141 | * @param ping C-struct to read the message contents from |
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142 | */ |
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143 | static inline uint16_t mavlink_msg_ping_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ping_t* ping) |
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144 | { |
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145 | return mavlink_msg_ping_pack_chan(system_id, component_id, chan, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component); |
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146 | } |
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147 | |
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148 | /** |
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149 | * @brief Send a ping message |
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150 | * @param chan MAVLink channel to send the message |
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151 | * |
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152 | * @param time_usec Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009) |
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153 | * @param seq PING sequence |
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154 | * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system |
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155 | * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system |
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156 | */ |
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157 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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158 | |
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159 | static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component) |
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160 | { |
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161 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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162 | char buf[MAVLINK_MSG_ID_PING_LEN]; |
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163 | _mav_put_uint64_t(buf, 0, time_usec); |
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164 | _mav_put_uint32_t(buf, 8, seq); |
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165 | _mav_put_uint8_t(buf, 12, target_system); |
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166 | _mav_put_uint8_t(buf, 13, target_component); |
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167 | |
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168 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); |
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169 | #else |
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170 | mavlink_ping_t packet; |
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171 | packet.time_usec = time_usec; |
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172 | packet.seq = seq; |
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173 | packet.target_system = target_system; |
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174 | packet.target_component = target_component; |
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175 | |
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176 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); |
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177 | #endif |
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178 | } |
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179 | |
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180 | /** |
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181 | * @brief Send a ping message |
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182 | * @param chan MAVLink channel to send the message |
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183 | * @param struct The MAVLink struct to serialize |
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184 | */ |
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185 | static inline void mavlink_msg_ping_send_struct(mavlink_channel_t chan, const mavlink_ping_t* ping) |
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186 | { |
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187 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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188 | mavlink_msg_ping_send(chan, ping->time_usec, ping->seq, ping->target_system, ping->target_component); |
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189 | #else |
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190 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)ping, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); |
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191 | #endif |
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192 | } |
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193 | |
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194 | #if MAVLINK_MSG_ID_PING_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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195 | /* |
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196 | This varient of _send() can be used to save stack space by re-using |
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197 | memory from the receive buffer. The caller provides a |
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198 | mavlink_message_t which is the size of a full mavlink message. This |
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199 | is usually the receive buffer for the channel, and allows a reply to an |
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200 | incoming message with minimum stack space usage. |
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201 | */ |
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202 | static inline void mavlink_msg_ping_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component) |
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203 | { |
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204 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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205 | char *buf = (char *)msgbuf; |
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206 | _mav_put_uint64_t(buf, 0, time_usec); |
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207 | _mav_put_uint32_t(buf, 8, seq); |
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208 | _mav_put_uint8_t(buf, 12, target_system); |
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209 | _mav_put_uint8_t(buf, 13, target_component); |
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210 | |
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211 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); |
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212 | #else |
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213 | mavlink_ping_t *packet = (mavlink_ping_t *)msgbuf; |
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214 | packet->time_usec = time_usec; |
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215 | packet->seq = seq; |
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216 | packet->target_system = target_system; |
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217 | packet->target_component = target_component; |
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218 | |
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219 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)packet, MAVLINK_MSG_ID_PING_MIN_LEN, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC); |
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220 | #endif |
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221 | } |
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222 | #endif |
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223 | |
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224 | #endif |
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225 | |
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226 | // MESSAGE PING UNPACKING |
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227 | |
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228 | |
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229 | /** |
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230 | * @brief Get field time_usec from ping message |
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231 | * |
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232 | * @return Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009) |
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233 | */ |
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234 | static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg) |
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235 | { |
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236 | return _MAV_RETURN_uint64_t(msg, 0); |
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237 | } |
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238 | |
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239 | /** |
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240 | * @brief Get field seq from ping message |
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241 | * |
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242 | * @return PING sequence |
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243 | */ |
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244 | static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg) |
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245 | { |
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246 | return _MAV_RETURN_uint32_t(msg, 8); |
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247 | } |
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248 | |
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249 | /** |
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250 | * @brief Get field target_system from ping message |
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251 | * |
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252 | * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system |
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253 | */ |
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254 | static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg) |
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255 | { |
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256 | return _MAV_RETURN_uint8_t(msg, 12); |
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257 | } |
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258 | |
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259 | /** |
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260 | * @brief Get field target_component from ping message |
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261 | * |
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262 | * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system |
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263 | */ |
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264 | static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg) |
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265 | { |
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266 | return _MAV_RETURN_uint8_t(msg, 13); |
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267 | } |
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268 | |
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269 | /** |
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270 | * @brief Decode a ping message into a struct |
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271 | * |
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272 | * @param msg The message to decode |
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273 | * @param ping C-struct to decode the message contents into |
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274 | */ |
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275 | static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping) |
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276 | { |
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277 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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278 | ping->time_usec = mavlink_msg_ping_get_time_usec(msg); |
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279 | ping->seq = mavlink_msg_ping_get_seq(msg); |
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280 | ping->target_system = mavlink_msg_ping_get_target_system(msg); |
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281 | ping->target_component = mavlink_msg_ping_get_target_component(msg); |
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282 | #else |
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283 | uint8_t len = msg->len < MAVLINK_MSG_ID_PING_LEN? msg->len : MAVLINK_MSG_ID_PING_LEN; |
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284 | memset(ping, 0, MAVLINK_MSG_ID_PING_LEN); |
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285 | memcpy(ping, _MAV_PAYLOAD(msg), len); |
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286 | #endif |
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287 | } |
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